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Bin tp bi:
Khoa CNTT HSP KT Hng Yn
K Thut iu Khin T ng
Bin tp bi:
Khoa CNTT HSP KT Hng Yn
Cc tc gi:
Khoa CNTT HSP KT Hng Yn
MC LC
1. Bi 1: C bn v h thng iu khin t ng
1.1. Khi nim iu khin
1.2. Cc nguyn tc iu khin
1.3. Phn loi iu khin
1.4. Lch s pht trin l thuyt iu khin
1.5. Mt s v d v cc phn t v h thng t ng
2. Bi 2: M t ton hc h thng iu khin lin tc
3. Bi 3: c tnh ng hc ca h thng
3.1. Khi nim v c tnh ng hc
3.2. Cc khu ng hc in hnh
3.3. c tnh ng hc ca h thng t ng
3.4. Kho st c tnh ng hc ca h thng
4. Bi 4: Kho st tnh n nh ca h thng
4.1. Khi nim v n nh
4.2. Tiu chun n nh i s
4.3. Phng php qu o nghim s
4.4. Tiu chun n nh tn s
5. Bi 5: nh gi cht lng ca h thng iu khin
5.1. Cc tiu chun cht lng
5.2. Sai s xc lp
5.3. p ng qu
5.4. Cc tiu chun ti u ha p ng qu
6. Bi 6: Thit k h thng iu khin lin tc
7. Bi 7: M t ton hc h thng iu khin ri rc
7.1. H thng iu khin ri rc
7.2. Php bin i Z
7.3. M t h thng ri rc bng hm truyn
7.4. M t h thng ri rc bng phng trnh trng thi
8. Bi 8: Phn tch v thit k h thng iu khin ri rc
8.1. H thng iu khin ri rc :Khi nim chung
8.2. Cc tiu chun n nh
8.3. nh gi cht lng ca h thng
8.4. Cc phng php tng hp h thng iu khin ri rc
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Bi 1: C bn v h thng iu khin t
ng
Khi nim iu khin
Khi nim iu khin
Khi nim
Mt cu hi kh ph bin vi nhng ngi mi lm quen vi l thuyt iu khin l
iu khin l g?. c khi nim v iu khin chng ta xt v d sau. Gi s chng
ta ang li xe trn ng, chng ta mun xe chy vi tc c nh 40km/h. t
c iu ny mt chng ta phi quan st ng h o tc bit c tc ca xe
ang chy. Nu tc xe di 40km/h th ta tng ga, nu tc xe trn 40km/h th ta
gim ga. Kt qu ca qu trnh trn l xe s chy vi tc gn bng tc mong
mun. Qu trnh li xe nh vy chnh l qu trnh iu khin. Trong qu trnh iu khin
chng ta cn thu thp thng tin v i tng cn iu khin (quan st ng h o tc
thu thp thng tin v tc xe), ty theo thng tin thu thp c v mc ch iu
khin m chng ta c cch x l thch hp (quyt nh tng hay gim ga), cui cng ta
phi tc ng vo i tng (tc ng vo tay ga) hot ng ca i tng theo ng
yu cu mong mun.
iu khin l qu trnh thu thp thng tin, x l thng tin v tc ng ln h thng
p ng ca h thng gn vi mc ch nh trc. iu khin t ng l qu trnh
iu khin khng cn s tc ng ca con ngi.
Cu hi th hai cng thng gp i vi nhng ngi mi lm quen vi l thuyt iu
khin l Ti sao cn phi iu khin?. Cu tr li ty thuc vo tng trng hp c
th, tuy nhin c hai l do chnh l con ngi khng tha mn vi p ng ca h thng
hay mun h thng hot ng tng chnh xc, tng nng sut, tng hiu qu kinh t.
V d trong lnh vc dn dng, chng ta cn iu chnh nhit v m cho cc cn
h v cc cao c to ra s tin nghi trong cuc sng. Trong vn ti cn iu khin cc xe
hay my bay t ni ny n ni khc mt cch an ton v chnh xc. Trong cng nghip,
cc qu trnh sn xut bao gm v s mc tiu sn xut tha mn cc i hi v s an
ton, chnh xc v hiu qu kinh t.
Trong nhng nm gn y, cc h thng iu khin (HTK) cng c vai tr quan trng
trong vic pht trin v s tin b ca k thut cng ngh v vn minh hin i. Thc
t mi kha cnh ca hot ng hng ngy u b chi phi bi mt vi loi h thng
iu khin. D dng tm thy h thng iu khin my cng c, k thut khng gian v
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h thng v kh, iu khin my tnh, cc h thng giao thng, h thng nng lng,
robot,...
Ngay c cc vn nh kim ton v h thng kinh t x hi cng p dng t l thuyt
iu khin t ng. Khi nim iu khin tht s l mt khi nim rt rng, ni dung
quyn sch ny ch cp n l thuyt iu khin cc h thng k thut.
Cc thnh phn c bn ca h thng iu khin
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Cc nguyn tc iu khin
Cc nguyn tc iu khin
Cc nguyn tc iu khin c th xem l kim ch nam thit k h thng iu khin
t cht lng cao v c hiu qu kinh t nht.
Nguyn tc 1: Nguyn tc thng tin phn hi Mun qu trnh iu khin t cht lng
cao, trong h thng phi tn ti hai dng thng tin: mt t b iu khin n i tng
v mt t i tng ngc v b iu khin (dng thng tin ngc gi l hi tip). iu
khin khng hi tip (iu khin vng h) khng th t cht lng cao, nht l khi c
nhiu.
Cc s iu khin da trn nguyn tc thng tin phn hi l:
iu khin b nhiu (hnh 1.3): l s iu khin theo nguyn tc b nhiu t u
ra c(t) mong mun m khng cn quan st tn hiu ra c(t) . V nguyn tc, i vi h
phc tp th iu khin b nhiu khng th cho cht lng tt.
iu khin san bng sai lch (hnh 1.4): B iu khin quan st tn hiu ra c(t) , so snh
vi tn hiu vo mong mun r(t) tnh ton tn hiu iu khin u(t) . Nguyn tc iu
khin ny iu chnh linh hot, loi sai lch, th nghim v sa sai. y l nguyn tc
c bn trong iu khin.
iu khin phi hp: Cc h thng iu khin cht lng cao thng phi hp s
iu khin b nhiu v iu khin san bng sai lch nh hnh 1.5.
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Nguyn tc 2: Nguyn tc a dng tng xng Mun qu trnh iu khin c cht lng
th s a dng ca b iu khin phi tng xng vi s a dng ca i tng. Tnh a
dng ca b iu khin th hin kh nng thu thp thng tin, lu tr thng tin, truyn
tin, phn tch x l, chn quyt nh,... ngha ca nguyn tc ny l cn thit k b
iu khin ph hp vi i tng. Hy so snh yu cu cht lng iu khin v b iu
khin s dng trong cc h thng sau:
- iu khin nhit bn i (chp nhn sai s ln) vi iu khin nhit l sy (khng
chp nhn sai s ln).
- iu khin mc nc trong bn cha ca khch sn (ch cn m bo lun c nc
trong bn) vi iu khin mc cht lng trong cc dy chuyn sn xut (mc cht lng
cn gi khng i).
Nguyn tc 3: Nguyn tc b sung ngoi Mt h thng lun tn ti v hot ng trong
mi trng c th v c tc ng qua li cht ch vi mi trng . Nguyn tc b
sung ngoi tha nhn c mt i tng cha bit (hp en) tc ng vo h thng v
ta phi iu khin c h thng ln hp en. ngha ca nguyn tc ny l khi thit k
h thng t ng, mun h thng c cht lng cao th khng th b qua nhiu ca mi
trng tc ng vo h thng.
Nguyn tc 4: Nguyn tc d tr V nguyn tc 3 lun coi thng tin cha y phi
phng cc bt trc xy ra v khng c dng ton b lc lng trong iu kin bnh
thng. Vn d tr khng s dng, nhng cn m bo cho h thng vn hnh an
ton.
Nguyn tc 5: Nguyn tc phn cp i vi mt h thng iu khin phc tp cn xy
dng nhiu lp iu khin b sung cho trung tm. Cu trc phn cp thng s dng
l cu trc hnh cy, v d nh h thng iu khin giao thng th hin i, h thng
iu khin dy chuyn sn xut.
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S iu khin phn cp
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khng c c tnh phi tuyn, vn c coi l h tuyn tnh, nhng vic phn tch v thit
k loi h thng ny phc tp hn nhiu so vi h tuyn tnh bt bin theo thi gian.
Phn loi theo loi tn hiu trong h thng
H thng lin tc
H thng lin tc l h thng m tn hiu bt k phn no ca h cng l hm lin tc
theo thi gian. Trong tt c cc HTK lin tc, tn hiu c phn thnh AC hay DC.
Khi nim AC v DC khng ging trong k thut in m mang ngha chuyn mn
trong thut ng HTK. HTK AC c ngha l tt c cc tn hiu trong h thng u
c iu ch bng vi dng s iu ch. HTK DC c hiu n gin l h c cc
tn hiu khng c iu ch, nhng vn c tn hiu xoay chiu. Hnh 1.7 l s mt
HTK DC kn v dng sng p ng qu ca h.
Cc thnh phn ca HTK DC l bin tr, khuch i DC, ng c DC, tachometer
DC...
S HTK DC vng kn
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S HTK AC vng kn
Hnh 1.8 l s mt HTK AC c cng chc nng nh HTK hnh 1.7. Trong
trng hp ny, tn hiu trong h u c iu ch, ngha l thng tin c truyn i
nh mt sng mang AC. Ch rng bin iu khin u ra ca i tng vn ging nh
HTK DC. HTK AC c s dng rng ri trong h thng iu khin my bay v
tn la, nhiu v tn hiu l l vn phi quan tm. Vi tn s sng mang t 400
Hz tr ln, HTK AC loi b c phn ln cc nhiu tn s thp. Cc thnh phn ca
HTK AC l thit b ng b, khuch i AC, ng c AC, con quay hi chuyn, my
o gia tc... Thc t, mt h thng c th lin kt cc thnh phn AC v DC, s dng
cc b iu ch v cc b gii iu ch thch ng vi tn hiu ti cc im khc nhau
trong h thng.
H thng ri rc
Khc vi HTK lin tc, HTK ri rc c tn hiu mt hay nhiu im trong h
thng l dng chui xung hay m s. Thng thng HTK ri rc c phn lm hai
loi: HTK ly mu d liu v HTK s. HTK ly mu d liu dng d liu xung.
HTK s lin quan n s dng my tnh s hay b iu khin s v vy tn hiu trong
h c m s ha, m s nh phn chng hn.
Ni chung, mt HTK ly mu d liu ch nhn d liu hay thng tin trong mt khong
thi gian xc nh. V d, tn hiu sai lch ca HTK ch c th c cung cp di
dng xung v trong khong thi gian gia hai xung lin tip HTK s khng nhn c
thng tin v tn hiu sai lch. HTK ly mu d liu c th xem l mt HTK AC v
tn hiu trong h thng c iu ch xung.
Hnh :minh ha hot ng ca mt h thng ly mu d liu. Tn hiu lin tc r(t) c
a vo h thng, tn hiu sai lch e(t) c ly mu bi thit b ly mu, ng ra ca
thit b ly mu l chui xung tun t. Tc ly mu c th thng nht hoc khng.
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S khi HTK tn la
Khi tn hiu vo r(t) khng i theo thi gian ta c h thng iu khin n nh ha hay
h thng iu chnh, v d nh h thng n nh nhit , in p, p sut, nng , tc
,...
iu khin theo chng trnh
Nu r(t) l mt hm nh trc theo thi gian, yu cu p ng ra ca h thng sao chp
li cc gi tr ca tn hiu vo r(t) th ta c h thng iu khin theo chng trnh.
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Nguyn tc t chnh nh
iu khin ti u - hm mc tiu t cc tr
V d cc bi ton qui hoch, vn tr trong kinh t, k thut u l cc phng php iu
khin ti u.
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thuyt iu khin hin i ban u c pht trin ch yu cho h tuyn tnh, sau
c m rng cho h phi tuyn bng cch s dng l thuyt ca Lyapunov.
B iu khin c s dng ch yu trong thit k h thng iu khin hin i l b
iu khin hi tip trng thi. Ty theo cch tnh vector hi tip trng thi m ta c
phng php phn b cc, iu khin ti u, iu khin bn vng...Vi s pht trin ca
l thuyt iu khin s v h thng ri rc, l thuyt iu khin hin i rt thch hp
thit k cc b iu khin l cc chng trnh phn mm chy trn vi x l v my
tnh s. iu ny cho php thc thi c cc b iu khin c c tnh ng phc tp
hn cng nh hiu qu hn so vi cc b iu khin n gin nh PID hay sm tr pha
trong l thuyt c in.
iu khin thng minh (intelligent control)
iu khin kinh in v iu khin hin i, gi chung l iu khin thng thng
(conventional control) c khuyt im l thit k c h thng iu khin cn phi
bit m hnh ton hc ca i tng. Trong khi thc t c nhng i tng iu khin
rt phc tp, rt kh hoc khng th xc nh c m hnh ton. Cc phng php iu
khin thng minh nh iu khin m, mng thn kinh nhn to, thut ton di truyn m
phng/bt chc cc h thng thng minh sinh hc, v nguyn tc khng cn dng m
hnh ton hc thit k h thng, do c kh nng ng dng thc t rt ln. Khuyt
im ca iu khin m l qu trnh thit k mang tnh th sai, da vo kinh nghim
ca chuyn gia. Nh kt hp logic m vi mng thn kinh nhn to hay thut ton di
truyn m thng s b iu khin m c th thay i thng qua qu trnh hc hay qu
trnh tin ha, v vy khc phc c khuyt im th sai. Hin nay cc b iu khin
thng thng kt hp vi cc k thut iu khin thng minh to nn cc b iu khin
lai iu khin cc h thng phc tp vi cht lng rt tt.
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Mt s v d v cc phn t v h thng t ng
Mt s v d v cc phn t v h thng t ng
Cc phn t t ng
Nh cp , mt HTK gm cc phn t c bn sau:
* Phn t cm bin, thit b o lng
* i tng hay qu trnh iu khin
* Thit b iu khin, cc b iu khin th ng v tch cc
Cc loi cm bin, thit b o lng
Bin tr tuyn tnh, bin tr gc quay dng chuyn i s dch chuyn thnh in
p. Ngoi ra cn c th chuyn i kiu in cm v in dung... Nguyn tc chung
o cc i lng khng in nh nhit , quang thng, lc, ng sut, kch thc, di
chuyn, tc ... bng phng php in l bin i chng thnh tn hiu in. Cu trc
thit b o gm ba thnh phn: b phn chuyn i hay cm bin, c cu o in v cc
s mch trung gian hay mch gia cng tn hiu v d nh mch khuch i, chnh
lu, n nh. Cm bin xenxin lm phn t o lng trong cc h bm st gc quay,
truyn ch th gc quay c ly xa m khng thc hin c bng c kh. Bin p xoay
hay cn gi l bin p quay dng bin i in p ca cun s cp hoc gc quay
ca cun s cp thnh tn hiu ra tng ng vi chng. Bin p xoay sin, cos o gc
quay ca rto, trn t cun s cp, thnh in p t l thun vi sin hay cos ca gc
quay . Bin p xoay tuyn tnh bin i lch gc quay ca rto thnh in p t l
tuyn tnh. Con quay 3 bc t do v con quay 2 bc t do c s dng lm cc b cm
bin o sai lch gc v o tc gc tuyt i trong cc h thng n nh ng ngm
ca cc dng c quan st v ngm bn.
Cm bin tc - b m ha quang hc l a m trn c khc vch m nh sng c
th i qua c. Pha sau a m t phototransistor chu tc dng ca mt ngun sng.
ng c v a m c gn ng trc, khi quay nh sng chiu n phototransistor lc
b ngn li, lc khng b ngn li lm cho tn hiu cc colecto l mt chui xung. Trn
a m c khc hai vng vch, ngoi A trong B c cng s vch, nhng lch 90o (vch
A trc B l 90o) . Nu a m quay theo chiu kim ng h th chui xung B s nhanh
hn chui xung A l 1/2 chu k v ngc li.
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V d Card giao tip s dng IC8255 gn trn slot m rng ca Main Board my tnh
(H.1.13).
Cc loi giao thc truyn tin
RS232C serial Interface, chu ni 25 chn dng truyn d liu ni tip vi tc nh
hn 20.000 bits/second (nm 1969). Khong 1975 n 1977 p dng RS-422, RS-423,
RS-449. RS-449 chu ni 37 chn, tc truyn c th nhanh gp nm ln so vi
RS-232C.
Vo nm 1970-1975 pht trin Bus d liu song song vi IEEE-488.
Nm 1978 - IEEE - 583 c slots cho 25 moduls, ni trc tip vi Bus I/O ca my tnh,
ni song song ti 7 CRATES.
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Card AD v DA 8 bit
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Hm truyn t v i s s khi
Php bin i Laplace
1- nh ngha
Cho f(t) l hm xc nh vi mi t = 0, bin i Laplace ca f(t) l:
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nh ca o hm
Nu hm f(t) c bin i Laplace l
th:
th:
nh l chm tr
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nh l gi tr cui
Nu hm f(t) c bin i Laplace l
th:
3- Bin i Laplace ca mt s hm c bn
Khi kho st h thng t ng ngi ta thng t tn hiu vo l cc tn hiu c bn. V
d nh kho st h thng iu khin n nh ha tn hiu vo c chn l hm nc,
kho st h thng iu khin theo di tn hiu vo c chn l hm hm dc, nhiu
tc ng vo h thng c th m t bng hm dirac. Tn hiu ra ca h thng t ng
cng c dng l t hp ca cc tn hiu c bn nh hm nc, hm m, hm sin, Do
trong mc ny chng ta xt bin i Laplace ca cc hm c bn s dng trong
vic phn tch v thit k h thng cc phn sau.
Hm xung n v (hm dirac) (H.2.2a)
Hm xung n v thng c s dng m t nhiu tc ng vo h thng.
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Cc hm c bn
a) Hm xung n v; b) Hm nc n v; c) Hm dc n v
d) Hm parabol; e) Hm m; f) Hm sin
Theo nh ngha:
Hm nc n v (H.2.2b)
Trong cc h thng iu khin n nh ha, tn hiu vo c dng hm nc n v.
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Hm truyn t
1- nh ngha
trong cc h s
v
l thng s ca h thng
; n l bc ca h thng. H thng c gi l hp thc (proper) nu n = m, h thng
c gi l khng hp thc nu n < m. Ch c cc h thng hp thc mi tn ti trong
thc t.
Gi s iu kin u bng 0, bin i Laplace hai v phng trnh trn ta c:
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S dng tn hiu
S dng tn hiu v cng thc Mason
1- nh ngha
biu din h thng t ng, ngoi phng php s dng s khi, ta cn c th s
dng phng php s dng tn hiu. Hy so snh hai hnh v di y, hnh 2.14b l
s dng tn hiu ca h thng c s khi nh hnh 2.7a.
- Vng kn: ng khp kn gm cc nhnh lin tip c cng hng tn hiu v ch qua
mi nt mt ln.
- li ca mt vng kn: tch ca cc hm truyn ca cc nhnh trn vng kn .
2- Cng thc Mason
Hm truyn tng ng ca h thng t ng biu din bng s dng tn hiu c
th tnh theo cng thc:
trong :
- li ca ng tin th k
- nh thc ca s dng tn hiu:
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Bng cch s dng cc bin trng thi, ta c th chuyn phng trnh vi phn bc n m
t h thng thnh h n phng trnh vi phn bc nht vit di dng ma trn nh sau:
trong :
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Bi 3: c tnh ng hc ca h thng
Khi nim v c tnh ng hc
Khi nim v c tnh ng hc
c tnh ng ca h thng m t s thay i tn hiu u ra ca h thng theo thi
gian khi c tc ng u vo. Trong thc t cc h thng iu khin rt a dng, tuy
nhin nhng h thng c m t bng m hnh ton hc c dng nh nhau s c c
tnh ng hc nh nhau. kho st c tnh ng ca h thng tn hiu vo thng
c chn l tn hiu c bn nh hm xung n v, hm nc n v hay hm iu ha.
Ty theo dng ca tn hiu vo th m c tnh ng thu c l c tnh thi gian hay
c tnh tn s.
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Biu thc (3.2) c c do p dng tnh cht nh ca tch phn ca php bin i
Laplace. t:
Hm qu :
trn. g
Nhn xt: bi trc ta bit c ba cch m t ton hc h thng tuyn tnh lin tc l
dng phng trnh vi phn, hm truyn v h phng trnh trng thi. Do quan h gia
hm trng lng v hm qu vi hm truyn cho bi biu thc (3.1) v (3.3) ta thy
rng c th dng hm trng lng hay hm qu m t ton hc h thng t ng.
Khi bit hm trng lng hay hm qu th s suy ra c hm truyn d dng
bng cc cng thc sau y:
V d: Cho h thng c p ng nc n v l:
Xc nh hm truyn ca h thng.
Gii. Theo bi, ta c:
c tnh tn s
c tnh tn s ca h thng tuyn tnh lin tc m t quan h gia tn hiu ra v tn hiu
vo ca h thng trng thi xc lp khi thay i tn s ca tn hiu dao ng iu ha
tc ng u vo ca h thng.
Xt h tuyn tnh lin tc c hm truyn l G(s), gi s tn hiu vo l tn hiu hnh sin:
Tn hiu ra ca h thng l:
rt gn biu thc ta c:
Biu thc cho thy trng thi xc lp tn hiu ra ca h thng l tn hiu hnh sin, cng
tn s vi tn hiu vo, bin t l vi bin tn hiu vo (h s t l l
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).
nh ngha: c tnh tn s ca h thng l t s gia tn hiu ra trng thi xc lp
v tn hiu vo hnh sin.
Ta rt ra:
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Cc khu ng hc in hnh
trn chng ta va cp n khi nim c tnh ng hc ca h thng t ng. Trong
mc ny, chng ta s xt c tnh ng hc ca mt s khu c bn nh khu t l, vi
phn, tch phn, qun tnh bc mt, dao ng bc hai, Trn c s c tnh ng hc
ca cc khu c bn, mc s trnh by cch xy dng c tnh ng hc ca h thng t
ng.
a) Hm trng lng; b) Hm qu
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c tnh tn s ca khu t l
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Hm qu :
Hm trng lng:
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c tnh tn s ca khu vi phn l tng hon ton tri ngc so vi khu tch phn
l tng. Biu Bode v bin ca khu vi phn l tng l ng thng c dc
+20dB/dec, biu Bode v pha l ng nm ngang
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Hm trng lng:
Hm qu :
c tnh tn s:
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Hnh 3.9a minh ha biu Bode ca khu qun tnh bc nht. ng cong t nt
biu Bode bin chnh l ng L() v chnh xc. Sai lch cc i gia ng
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, bn knh
. Do pha ca G(j) lun m khi thay i t 0 n +8 nn biu Nyquist l na di
ca ng trn
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Hm qu :
Hm trng lng:
c tnh tn s:
Phn thc:
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Phn o:
Bin :
Pha:
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Hm truyn:
Hm trng lng:
Hm qu :
trong lch pha xc nh. Biu thc cho thy c tnh thi gian ca khu dao
ng bc hai c dng dao ng suy gim, hm trng lng l dao ng suy gim v 0,
hm qu l dao ng suy gim n gi tr xc lp l 1 (hnh 3.12).
- Nu =0:
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c tnh tn s:
Bin :
Biu thc cho thy biu Bode bin ca khu dao ng bc hai l mt ng cong.
Tng t nh lm i vi khu qun tnh bc nht, ta c th v gn ng biu
Bode bin bng cc ng tim cn nh sau:
- Nu
th
, do ta c th v gn ng bng ng thng nm trn trc honh ( dc bng 0).
- Nu
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Hnh 3.13a minh ha biu Bode ca khu dao ng bc hai. Cc ng cong biu
Bode bin chnh l ng L() v chnh xc. Biu Bode bin chnh xc c
nh cng hng
ti tn
, do d thy rng nu cng nh th nh cng hng cng cao. Khi =0 th tn s
cng hng tin n tn s dao ng t nhin
.
Biu Nyquist ca khu dao ng bc hai c dng ng cong nh minh ha hnh
3.13b. Khi =0 th G(j) c bin bng 1, pha bng 0; khi
th G(j) c bin bng 0, pha bng 180o. Giao im ca ng cong Nyquist vi
trc tung c
, do tng ng vi tn s
, thay
vo biu thc ta suy ra bin ti giao im vi trc tung l
.
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Hm trng lng:
Hm qu :
52/197
c tnh tn s:
Bin :
Pha:
Biu Bode bin ca khu tr hon l ng thng nm ngang trng vi trc honh
do L() = 0 vi mi . rng biu thc (3.68) l phng trnh ca mt ng thng
nu trc honh chia theo thang tuyn tnh. Tuy nhin do trc honh ca biu Bode
li chia theo thang logarith nn biu Bode v pha ca khu tr hon l ng cong
dng hm m, xem hnh 3.15a.
Do G(j) c bin bng 1 vi mi v c pha gim t 0 n
nn biu Nyquist ca khu tr l ng trn n v c mi tn ch chiu tng ca
nh hnh 3.15b.
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c tnh ng hc ca h thng t ng
c tnh ng hc ca h thng t ng
c tnh thi gian ca h thng
Xt h thng c hm truyn:
Bin i Laplace ca hm qu l:
55/197
- Nu G(s) khng c khu tch phn, vi phn l tng v c n cc phn bit, H(s) c th
phn tch di dng:
56/197
c tnh tn s ca h thng l:
Bin :
Biu thc cho thy biu Bode bin ca h thng bng tng cc biu Bode bin
ca cc khu c bn thnh phn.
Pha:
Biu thc chng t biu Bode pha ca h thng bng tng cc biu Bode pha ca
cc khu c bn thnh phn.
T hai nhn xt trn ta thy rng v c biu Bode ca h thng, ta v biu
Bode ca cc khu thnh phn, sau cng th li. Da trn nguyn tc cng th,
ta c phng php v biu Bode bin gn ng ca h thng bng cc ng tim
cn nh sau:
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Bc 1: Xc nh tt c cc tn s gy
Bc 2: Nu tt c cc tn s
, dc ca ng tim cn
c cng thm:
* (- 20 dB/dec ) nu
l tn s gy ca khu qun tnh bc mt.
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* (+ 20 dB/dec ) nu
l tn s gy ca khu vi phn bc mt.
* (-40 dB/dec ) nu
l tn s gy ca khu dao ng bc hai.
* (+40 dB/dec ) nu
l tn s gy ca khu vi phn bc hai,
.
( l s nghim bi ti
)
ng thng ny ko di n tn s gy k tip.
Bc 5: Lp li bc 4 cho n khi v xong ng tim cn ti tn s gy cui cng.
V d :V biu Bode bin gn ng ca h thng c hm truyn:
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Gii: H thng c bn tn s gy
. Da vo s thay i dc ca biu Bode, ta thy hm truyn ca h thng phi
c dng:
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Do hm truyn ca h thng l:
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trong :
co(t) - l nghim ring ca (4.1) c v phi, c trng cho qu trnh xc lp.
cq(t) - l nghim tng qut ca (4.1) khng c v phi, c trng cho qu trnh qu .
Dng nghim tng qut c trng cho qu trnh qu trong h thng:
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Tiu chun n nh i s
Tiu chun n nh i s
iu kin cn
iu kin cn h thng n nh l tt c cc h s ca phng trnh c trng phi
khc 0 v cng du.
V d: H thng c phng trnh c trng:
Mun xt tnh n nh ca h thng theo tiu chun Routh, trc tin ta thnh lp bng
Routh theo qui tc:
- Bng Routh c n+1 hng.
- Hng 1 ca bng Routh gm cc h s c ch s chn.
- Hng 2 ca bng Routh gm cc h s c ch s l.
- Phn t hng i ct j ca bng Routh (i = 3) c tnh theo cng thc:
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Gii
Bng Routh
69/197
iu kin h thng n nh
Cc trng hp c bit
- Trng hp 1: nu c h s ct 1 ca hng no bng 0, cc h s cn li ca hng
khc 0 th ta thay h s bng 0 ct 1 bi s e dng, nh ty , sau qu trnh
tnh ton c tip tc.
V d : Xt tnh n nh ca h thng c phng trnh c trng:
Gii
Bng Routh
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a thc ph
Kt lun
- Cc h s ct 1 bng Routh khng i du nn phng trnh c trng khng c
nghim nm bn phi mt phng phc.
- Phng trnh c tnh c hai nghim nm trn trc o.
- S nghim nm bn tri mt phng phc l 5 2 = 3.
=> H thng bin gii n nh.
Tiu chun n nh Hurwitz
Cho h thng c phng trnh c trng
Mun xt tnh n nh ca h thng theo tiu chun Hurwitz, trc tin ta thnh lp ma
trn Hurwitz theo qui tc:
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Hi h thng c n nh khng?
Gii. Ma trn Hurwitz
Cc nh thc
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Qu o nghim s
75/197
S h thng iu khin t ng
Xt h thng iu khin c s khi hnh 4.6. Phng trnh c tnh ca h
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Cc cc: ba cc.
Cc zero: khng c.
=> QNS gm c ba nhnh xut pht t cc cc khi K = 0.
Khi
, ba nhnh ca QNS s tin n v cng theo cc tim cn xc nh bi:
- Gc gia cc tim cn v trc thc
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Bng Routh
iu kin h thng n nh
Cch 2
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Tiu chun n nh tn s
Nguyn l gc quay
Xt h thng bc n c phng trnh c tnh h s hng:
Khi tn s thay i t
n
82/197
K hiu ch s thay i gc quay Nu qui nh chiu quay dng l chiu ngc chiu
kim ng h th ta c biu thc sau i vi nghim tri v phi:
Nguyn l gc quay
H thng bc n c m nghim phi v (n - m) nghim tri c vect a thc c tnh tn
s A(j) s quay mt gc l (n-2m)/2 vng kn theo chiu ngc chiu kim ng h khi
tn s ? bin thin t
n
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Cho bin thin t 0 n v cng bng phng php trn xy dng ton b biu
vct a thc c tnh A(j).
- a thc c tnh (mu s hm truyn t ca h cn xt n nh trng thi h hoc
trng thi kn) c phn tch thnh hai thnh phn:
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87/197
Sai s xc lp
vt l ( qu iu chnh )
88/197
Thi gian p ng
Thi gian ln nh l thi gian p ng ra t gi tr cc i (tp = tpeak).
Thi gian qu ts = tset xc nh bi thi im p ng ra t sau tr i khng vt
ra khi min gii hn sai s quanh gi tr xc lp. V d: c th l 2%, 5%...
d tr n nh
nh ngha: Khong cch t trc o n nghim cc gn nht (nghim thc hoc phc)
c gi l d tr n nh ca h. K hiu khong cch ngn nht y l ?o, nu ?o
cng ln th qu trnh qu cng nhanh v xc lp. p ng qu ca h bc n:
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Sai s xc lp
Xt h thng hi tip m c s khi nh hnh v:
H thng hi tip m
Sai s ca h thng l
Sai s xc lp
Tn hiu vo l hm nc n v
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Tn hiu vo l hm dc n v
Tn hiu vo l hm parabol
Nhn xt
Ty theo s khu tch phn l tng c trong hm truyn h ( ) ( ) G s H s m Kp , Kv ,
Ka c gi tr nh bng sau:
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p ng qu
p ng qu l p ng ca h thng khi tn hiu vo l hm nc n v.
H qun tnh bc mt
Hm truyn:
H thng kn ch c mt cc thc
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H dao ng bc hai
Hm truyn
trong
94/197
p ng qu ca h dao ng bc hai
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gi l tn s dao ng t nhin.
- Nu
Thi gian ln tr: (rise time) l thi gian c(t) tng t 10% n 90% gi tr xc lp.
i vi h bc hai
96/197
Ch : Nu
p ng ca h thng
Nu
97/197
p ng ca h thng
H bc cao
Cp cc quyt nh ca h bc cao
98/197
Cc tiu chun ti u ha p ng qu
Tiu chun tch phn sai lch IE (Integrated Error)
Tiu chun IAE (Integral of the Absolute Magnitude of the Error - tch
phn tr tuyt i bin sai s)
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i vi h bc hai:
Tiu chun ISE (Integral of the Square of the Error - tch phn ca bnh
phng sai s)
i vi h bc hai:
Tiu chun ITAE (Integral of Time multiplied by the Absolute Value of the
Error- tch phn ca thi gian nhn vi tr tuyt i ca sai s)
i vi h bc hai:
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Cch 2: iu khin hi tip trng thi, theo phng php ny tt c cc trng thi ca h
thng c phn hi tr v ng vo v tn hiu iu khin c dng
(H.6.2). Ty theo cch tnh vct hi tip trng thi K m ta c phng php iu
khin phn b cc, iu khin ti u LQR, .
Qu trnh thit k h thng l qu trnh i hi tnh sng to do trong khi thit k thng
c nhiu thng s phi chn la.
Ngi thit k cn thit phi hiu c nh hng ca cc khu hiu chnh n cht
lng ca h thng v bn cht ca tng phng php thit k th mi c th thit k
c h thng c cht lng tt. Do cc phng php thit k trnh by trong bi ny
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(6.1)
(6.2)
Ta cn chn thng s ca b iu khin GC(s) sao cho phng trnh (6.1) c nghim ti
v tr mong mun.
Hiu chnh sm pha
thun li cho vic v QNS chng ta biu din hm truyn khu hiu chnh sm pha
di dng sau :
(6.3)
Bi ton t ra l chn gi tr KC, a v T p ng ca h thng tha mn yu cu v
cht lng qu ( vt l, thi gian xc lp, )
Ta bit cht lng qu ca h thng hon ton xc nh bi v tr ca cp cc quyt
nh. Do nguyn tc thit k khu hiu chnh sm pha dng phng php QNS l
chn cc v zero ca khu hiu chnh sao cho QNS ca h thng sau khi hiu chnh
phi i qua cp cc quyt nh mong mun. Sau bng cch chn h s khuch i
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Bc 2: Xc nh gc pha cn b cp cc quyt nh
nm trn QNS ca h thng sau khi hiu chnh bng cng thc:
(6.4)
trong pi v zi l cc cc ca h thng G(s) trc khi hiu chnh.
Dng hnh hc ca cng thc trn l:
(6.5)
Bc 3: Xc nh v tr cc v zero ca khu hiu chnh
V hai na ng thng bt k xut pht t cc quyt nh s* sao cho hai na ng
thng ny to vi nhau mt gc bng *. Giao im ca hai na ng thng ny vi
trc thc l v tr cc v zero ca khu hiu chnh.
C hai cch v thng dng:
- PP ng phn gic ( cc v zero ca khu hiu chnh gn nhau).
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Gii thch
Bc 1: Do cht lng qu ph thuc vo v tr cp cc quyt nh nn thit k
h thng tha mn cht lng qu mong mun ta phi xc nh cp cc quyt nh
tng ng. Gi cp cc quyt nh mong mun l
.
Bc 2: h thng c cht lng qu nh mong mun th cp cc quyt nh
phi l nghim ca phng trnh c tnh sau khi hiu chnh (6.1). Xt iu kin v
pha:
(6.6)
trong zi v pi l cc zero v cc cc ca h thng h trc khi hiu chnh. t gc
pha cn b
Do s phc c th biu din di dng vct nn cng thc trn tng ng vi cng
thc hnh hc sau:
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(6.7)
Do * v s* bit nn phng trnh (6.7) c hai n s cn tm l 1/T v 1/T. Chn
trc gi tr 1/T bt k thay vo phng trnh (6.7) ta s tnh c 1/T v ngc li,
ngha l bi ton thit k c v s nghim.
Thay v chn nghim bng phng php gii tch (gii phng trnh (6.7) nh va trnh
by chng ta c th chn bng phng php hnh hc. Theo hnh 6.3 hai s phc
v
c biu din bi hai vct
v
, do
v
. Thay cc gc hnh hc vo phng trnh (6.7) ta c:
T phn tch trn ta thy cc v zero ca khu hiu chnh sm pha phi nm ti im B
v C sao cho BPC * = F . y chnh l c s ton hc ca cch chn cc v zero nh
trnh by trong trnh t thit k.
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Bc 1: Xc nh cp cc quyt nh
Theo yu cu thit k, ta c:
107/197
Vy cp cc quyt nh l:
Bc 2: Xc nh gc pha cn b
Cch 1. Dng cng thc i s
108/197
Bc 4: Tnh C K .
Nhn xt
109/197
S thay i dng QNS khi hiu chnh sm pha a) QNS trc khi hiu chnh; b) QNS sau khi
hiu chnh
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trong
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trong
Gii thch
Bc 1: Ta c h s vn tc ca h thng trc v sau khi hiu chnh l:
.
Bc 2: Gi s1,2 l cp cc quyt nh ca h thng trc khi hiu chnh:
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. Suy ra:
(6.8)
Phn tch trn cho thy cc v zero ca khu hiu chnh tr pha phi tha mn biu
thc (6.8). Khi thit k ta thng chn khu hiu chnh tr pha sao cho
Bc 3: Suy ra:
113/197
C th d dng kim chng c rng do cch chn zero v cc ca khu hiu chnh
nh bc 2 v bc 3 m bc 4 ta lun tnh c
trong :
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.
Thit k khu hiu chnh tr pha
mc ni tip vo
tha mn yu cu v sai s xc lp m khng thay i ng k p ng qu ca
h thng sau khi hiu chnh sm pha (xem phng php thit k khu hiu chnh tr
pha mc trc).
V d 6.6. Thit k khu hiu chnh sm tr pha dng phng php QNS.
Hy thit k khu hiu chnh GC(s) sao cho h thng sau khi hiu chnh c cp cc phc
vi
; h s vn tc VK = 80.
Gii: H cha hiu chnh c
; VK = 8 .
V yu cu thit k b hiu chnh ci thin p ng qu v sai s xc lp nn GC(s)
l khu hiu chnh sm tr pha.
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Gc pha cn b
- Gc pha cn b:
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- Xc nh :
H s vn tc ca h sau khi hiu chnh sm pha:
H s vn tc mong mun:
- Xc nh cc ca khu tr pha:
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(1)
h thng c cp cc phc vi
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(6.9)
Zeigler v Nichols a ra hai cch chn thng s b iu khin PID ty theo c im
ca i tng.
Cch 1: Da vo p ng qu ca h h, p dng cho cc i tng c p ng i
vi tn hiu vo l hm nc c dng ch S nh hnh 6.7, v d nh nhit l nhit, tc
ng c,
p ng nc ca h h c dng S
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p ng nc ca h kn khi K = Kgh
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Hnh 7.1 trnh by s khi ca h thng iu khin s thng gp, trong h thng c
hai loi tn hiu: tn hiu lin tc c(t), uR(t) v tn hiu s r(kT), cht(kT), u(kT). Trung
tm ca h thng l my tnh s, my tnh c chc nng x l thng tin phn hi t cm
bin v xut ra tn hiu iu khin i tng. V cm bin v i tng l h thng lin
tc nn cn s dng b chuyn i A/D v D/A giao tip vi my tnh. Do
phn tch v thit k h thng iu khin s trc tin ta phi m t ton hc c qu
trnh chuyn i A/D v D/A. Tuy nhin, hin nay khng c phng php no cho php
m t chnh xc qu trnh chuyn i A/D v D/A do sai s lng t ha bin , v vy
thay v kho st h thng s hnh 7.1 ta kho st h ri rc hnh 7.2.
Trong quyn sch ny, chng ta pht trin cc phng php phn tch v thit k h
thng iu khin lin tc cho h thng iu khin ri rc. Nu phn gii ca php
lng t ha bin nh c th b qua sai s th ta c th xem tn hiu s l tn
hiu ri rc, iu c ngha l l thuyt iu khin ri rc trnh by trong quyn ny
hon ton c th p dng phn tch v thit k cc h thng iu khin s.
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c im ly mu
Qu trnh ly mu d liu
Ly mu l bin i tn hiu lin tc theo thi gian thnh tn hiu ri rc theo thi gian.
Xt b ly mu c u vo l tn hiu lin tc x(t) v u ra l tn hiu ri rc x*(t)
(H.7.3). Qu trnh ly mu c th m t bi biu thc ton hc sau:
x*(t) = x(t).s(t)
trong s(t) l chui xung dirac:
128/197
Khu gi d liu
Khu gi d liu l khu chuyn tn hiu ri rc theo thi gian thnh tn hiu lin tc
theo thi gian.
Khu gi d liu c nhiu dng khc nhau, n gin nht v c s dng nhiu nht
trong cc h thng iu khin ri rc l khu gi bc 0 (Zero-Order Hold - ZOH)
(H.7.4).
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Khu gi bc 0 (ZOH)
Theo nh ngha:
Do :
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Php bin i Z
nh ngha
Cho x(k) l chui tn hiu ri rc. Bin i Z ca x(k) l:
(7.7)
trong : z = eTs (s l bin Laplace)
K hiu:
Nu x(k) = 0,
k < 0th biu thc nh ngha tr thnh:
Th:
133/197
Lm tr tn hiu Ko mu
Nu:
Th:
Nhn xt:
Nu trong min Z ta nhn X(z) vi
134/197
T l trong min Z
Nu:
Th:
o hm trong min Z
Nu:
Th:
nh l gi tr u
Nu:
Th:
nh l gi tr cui
Nu:
Th:
135/197
Bin i Z ca cc hm c bn
Hm dirac
Theo nh ngha:
Vy:
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Ly mu u(t) vi chu k ly mu l T, ta c:
Theo nh ngha:
Nu |z-1| < 1th biu thc trn l tng ca cp s nhn li v hn. p dng cng thc
tnh tng ca cp s nhn li v hn, ta d dng suy ra:
Vy:
Hm dc n v
Hm dc n v (lin tc trong min thi gian):
137/197
Ly mu r(t) vi chu k ly mu l T, ta c:
Vy:
Hm m
Hm m lin tc trong min thi gian:
138/197
Ly mu r(t) vi chu k ly mu l T, ta c:
Theo nh ngha:
Nu
th biu thc trn l tng ca cp s nhn li v hn. p dng cng thc tnh tng ca
cp s nhn li v hn, ta suy ra:
Vy:
139/197
v bao gc ta .
Tm x(k) bng cng thc trn rt phc tp, thc t ta thng p dng cc cch sau:
Cch 1: Phn tch X( z ) thnh tng cc hm c bn, sau tra bng bin i Z
V d 7.1. Cho:
Tm x(k).
Gii. Phn tch
, ta c:
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Tm x(k).
Gii:
Chia a thc ta c:
141/197
Tm x(k).
Gii: Ta c:
Bin i Z ngc hai v phng trnh trn ( tnh cht di trong min thi gian), ta
c:
Vi iu kin u: x( k 1) = 0; x(k 2) = 0
Thay vo cng thc trn ta tm c:
x(0) = 0; x(1) = 1; x(2) = 5; x(3) = 19; x(4) = 65,...
Cch 4: p dng cng thc thng d
Nu
l cc bc mt th:
Nu
l cc bc p th:
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V d : Cho:
Tm x(k).
Gii. p dng cng thc thng d, ta c:
M:
Do : x(k) = 2k + 3k
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t:
144/197
Hai cch biu din trn hon ton tng ng nhau, trong thc t hm truyn dng th
hai c s dng nhiu hn.
V d 7.5. Cho h thng ri rc m t bi phng trnh sai phn:
Tm hm truyn ca h thng.
Gii. Bin i Z hai v phng trnh sai phn m t h thng, ta c:
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Trong :
V d 7.6: Cho
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Trong :
Cn ch l:
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Trong :
V d 7.8. Cho
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Trong :
Trong :
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Trong :
151/197
Kt hp phng trnh trn vi cc biu thc t bin trng thi ta c h phng trnh
sau:
152/197
p ng ca h thng:
t:
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trong :
155/197
Trong :
Trong :
156/197
Trong :
Trong :
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Ta c phng trnh:
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Trong :
160/197
Ta c h phng trnh:
Trong :
161/197
Ta c h phng trnh:
Trong :
162/197
Vi:
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Trong :
Tng qut:
164/197
Ta c:
Ta li c:
(7.31)
Ri rc ha phng trnh ng ra ca h lin tc, ta c:
165/197
Gii
Bc 1: Thnh lp h phng trnh bin trng thi m t h lin tc:
Theo hnh v ta c:
166/197
p ng ca h thng:
Do :
Bc 2: Tnh ma trn qu :
Trong :
Trong :
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Bi ton t ra l tm hm truyn:
170/197
Lp t s, ta c:
(7.35)
V d. Cho h thng m t bi phng trnh trng thi:
Trong :
Ta c:
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Vy:
172/197
trnh by s khi ca h thng iu khin s thng gp, trong h thng c hai loi
tn hiu: tn hiu lin tc c(t), uR(t) v tn hiu s r(kT), cht(kT), u(kT). Trung tm ca
173/197
Hm truyn ca h ri rc
trong
gi l bc ca h thng ri rc
Bin i z hai v phng trnh trn ta c:
174/197
Hai cch biu din trn hon ton tng ng nhau, trong thc t hm truyn dng th
hai c s dng nhiu hn.
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Cc tiu chun n nh
iu kin n nh ca h thng iu khin ri rc
H thng c gi l n nh nu tn hiu vo b chn th tn hiu ra b chn (n nh
BIBO Bounded Input Bounded Output).
Ta bit h thng iu khin lin tc n nh nu tt c cc nghim ca phng trnh
c tnh u nm bn tri mt phng phc. Do quan h gia bin z v bin s l
Lu :
- H thng ri rc cho bi s khi
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.
Nu phng trnh trn c nghim nm bn phi mt phng phc th h lin tc khng n
nh.
- Khng th s dng trc tip tiu chun RouthHurwitz nh gi tnh n nh ca
h ri rc v min n nh ca h ri rc nm bn trong ng trn n v.
- Mun dng tiu chun Routh-Hurwitz nh gi tnh n nh ca h ri rc ta phi
thc hin php i bin
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Bng Jury
1- Hng 1 l cc h s ca phng trnh c tnh theo th t ch s tng dn.
2- Hng chn (bt k) gm cc h s ca hng l trc vit theo th t ngc li.
3- Hng l th i k = + 2 1 ( k = 1 ) gm c ( n k - ) phn t, phn t cij xc nh bi cng
thc
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Sai s xc lp
Theo nh l gi tr cui:
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Nu tn hiu vo l hm nc n v
Nu tn hiu vo l hm dc n v:
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Cc lnh ghp ni h ri rc hon ton ging nh cc lnh ghp ni h lin tc, c th:
- Tnh hm truyn ca h thng ni tip: lnh series hoc ton t *
C php: G=series(G1, G2) tnh hm truyn G = G1*G2
- Tnh hm truyn ca h thng song song: lnh parallel hoc ton t +
C php: G=parallel(G1,G2) tnh hm truyn G = G1+G2
- Tnh hm truyn ca h thng hi tip: lnh feedback
C php: Gk=feedback(G1,G2,) tnh hm truyn h hi tip m
Gk = G1/(1+G1*G2)
Gk=feedback(G1,G2,+1) tnh hm truyn h hi tip dng
Gk = G1/(1G1*G2)
V d:
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Cc lnh bin i gia hm truyn v phng trnh trng thi ca h ri rc hon ton
ging h lin tc.
- Bin i phng trnh trng thi v dng hm truyn: lnh tf
C php: G=tf(PTTT)
- Bin i hm truyn v dng phng trnh trng thi: lnh ss
C php: PTTT=tf(G)
V d: (xem th d 7.15)
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rng sau khi bin i ngc t hm truyn v dng phng trnh trng thi ta c
cc ma trn trng thi hon ton khc vi cc ma trn trng thi nhp vo ban u,
iu ny khng c g v l v i vi mt h thng ty theo cch t bin trng thi khc
nhau ta s c cc phng trnh trng thi khc nhau.
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Tham gia ng gp
Ti liu: K Thut iu Khin T ng
Bin tp bi: Khoa CNTT HSP KT Hng Yn
URL: http://voer.edu.vn/c/0d7fe2e0
Giy php: http://creativecommons.org/licenses/by/3.0/
Module: Khi nim iu khin
Cc tc gi: Khoa CNTT HSP KT Hng Yn
URL: http://www.voer.edu.vn/m/a4081d5c
Giy php: http://creativecommons.org/licenses/by/3.0/
Module: Cc nguyn tc iu khin
Cc tc gi: Khoa CNTT HSP KT Hng Yn
URL: http://www.voer.edu.vn/m/a4b67b4b
Giy php: http://creativecommons.org/licenses/by/3.0/
Module: Phn loi iu khin
Cc tc gi: Khoa CNTT HSP KT Hng Yn
URL: http://www.voer.edu.vn/m/4ed8432c
Giy php: http://creativecommons.org/licenses/by/3.0/
Module: Lch s pht trin l thuyt iu khin
Cc tc gi: Khoa CNTT HSP KT Hng Yn
URL: http://www.voer.edu.vn/m/0d08bf6b
Giy php: http://creativecommons.org/licenses/by/3.0/
Module: Mt s v d v cc phn t v h thng t ng
Cc tc gi: Khoa CNTT HSP KT Hng Yn
URL: http://www.voer.edu.vn/m/46a424fa
Giy php: http://creativecommons.org/licenses/by/3.0/
Module: Bi 2: M t ton hc h thng iu khin lin tc
Cc tc gi: Khoa CNTT HSP KT Hng Yn
URL: http://www.voer.edu.vn/m/41ea3e15
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URL: http://www.voer.edu.vn/m/8365713e
Giy php: http://creativecommons.org/licenses/by/3.0/
Module: Bi 10: Lp trnh iu khin h thng t ng t my tnh
Cc tc gi: Khoa CNTT HSP KT Hng Yn
URL: http://www.voer.edu.vn/m/9ceb3b00
Giy php: http://creativecommons.org/licenses/by/3.0/
Module: M T H RI RC DNG MATLAB
Cc tc gi: Khoa CNTT HSP KT Hng Yn
URL: http://www.voer.edu.vn/m/3e7fe340
Giy php: http://creativecommons.org/licenses/by/3.0/
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